Chapter 16

Planar Kinematics of a
Rigid Body (V)
Impulse and Momentum
by

Dr. Toh Hoong Thiam

RELATIVE MOTION ANALYSIS:
ACCELERATION

by

Dr. Toh Hoong Thiam

Objectives:

a) Resolve the acceleration of a

point on a body into
components of translation and
rotation.

b) Determine the acceleration of a

point on a body by using a
relative acceleration analysis.
 The relative velocity equation is given by

vԦB = vԦA + 𝜔 × 𝑟ԦB/A

 Differentiating the relative velocity equation with respect to, we have

dvB dvA dv
= + B/A
dt dt dt
or
aB = aA + aB/A (1)

where
dvB
aB = = absolute acceleration of point B
dt
dvA
aA = = absolute acceleration of point A
dt
dvB/A
aB/A = = relative acceleration of B with respect to A.
dt
 The acceleration of B relative to A, aB/A , can be expressed in terms of
its tangential and normal components as

aB/A = (aB/A)t + (aB/A)n

where
(aB/A)t = relative tangential acceleration of B w.r.t. A
= 𝛼Ԧ ×ԦrB/A
(aB/A)n = relative normal acceleration of of B w.r.t. A
= 𝜔 × (𝜔 × rԦB/A ) = −w 2 rԦB/A
𝛼Ԧ = angular acceleration of the body
𝜔 = angular velocity of the body
rԦB/A = position vector directed from A to B

Note:
• (aB/A)t is perpendicular to rԦB/A
• (aB/A)n is always directed from B towards A.
 Therefore, Eq. (1) can be written as

aB = aA + (aB/A)t + (aB/A)n (2)

or
aB = aA + 𝛼Ԧ ×ԦrB/A − w 2 rԦB/A (3)
Note:
 When using the relative acceleration equation, points A and B should
generally be selected as points which have a known motion, such as

(1) points on the body which are pin-connected to other bodies,

or

(2) points in contact with adjacent bodies which have a known

motion.
 Case 1: Pinned connected bodies
Points which are coincident at a pin
move with the same acceleration,
since the path of motion over which
they travel is the same.

 (aB )link BC = (aB )link AB

 As B moves along a circular path,
aB = (aB)t + (aB)n

 (aC )link BC = (aC )piston

 Since point C moves along a
straight-lined path,
aC = aC 𝑖 Ƹ
 Case 2: Bodies in Contact
(a) Two bodies in contact with one another without slipping,
and the points in contact move along different paths.

• In this case, the tangential components of acceleration will be the

same, i. e.,
(aA)t = (aA′)t ⟹ aB rB = aC rC.

• The normal components of acceleration will not be the same.

(aA)n  (aA′)n ⟹ aA  aA′
(b) Body rolls without slipping

 Since there is no slipping, vA = 0.

vԦG = vԦA + (𝜔 × rԦG/A)
෠ × r𝑗Ƹ
= 0 + (─𝜔 𝑘)

∴ vԦG =w r 𝑖Ƹ

 The acceleration is

d vG d (w r 𝑖Ƹ)
=
dt dt

aG = a r 𝑖 Ƹ
PROCEDURE FOR ANALYSIS
 Establish a fixed coordinate system.
 Draw the kinematic diagram of the body and indicate on it aA, aB , w,
a, and rԦB/A .
 If the points A and B move along curved paths, then their
accelerations should be indicated in terms of their tangential and
normal components, i.e.,
aA = (aA)t + (aA)n and aB = (aB)t + (aB)n

 Apply the relative acceleration equation:

aB = aA + 𝛼Ԧ ×ԦrB/A − w 2 rԦB/A

 Equate the respective 𝑖Ƹ and 𝑗Ƹ components to obtain 2 scalar equations.

EXAMPLE 1

Given:
• The rod AB is confined to
move along the inclined
planes at A and B.

• Point A on rod AB has an acceleration of 3 m/s2 and a velocity of

2 m/s at the instant the rod is horizontal.

Find:
The angular acceleration of the rod at this instant.
Solution:
Determine the angular velocity IC
vA =2 m/s
 Kinematic diagram
A B
45º 45º
5
rA/IC = = 7.071 m
cos 45º
5m 5m

 Velocity

vA = 𝜔AB rA/IC

vA 2 m/s
 𝜔AB = =
rA/IC 7.071 m

∴ wAB = 0.283 rad/s

Determine the angular acceleration
 Kinematic diagram

10 m

Since points A and B both move along straight-line paths,

aA = 3 (cos 45º 𝑖Ƹ − sin 45º 𝑗)Ƹ m/s2

aB = aB(cos 45º 𝑖Ƹ + sin 45º 𝑗)Ƹ m/s2

 Relative acceleration equation:

aB = aA + 𝛼Ԧ ×ԦrB/A − w 2 rԦB/A

aB(cos 45º 𝑖Ƹ +sin 45º 𝑗)Ƹ = 3 (cos 45º 𝑖Ƹ − sin 45º 𝑗)Ƹ
+ (a 𝑘෠ × 10 𝑖)Ƹ
– (0.283)2 (10𝑖)Ƹ

 Comparing the 𝑖Ƹ , 𝑗Ƹ components, we have

𝑖Ƹ : aB cos 45º = 3 cos 45º – (0.283)2 (10)
𝑗:Ƹ aB sin 45º = −3 sin 45º + a(10)

 Solving the above 2 equation, we have

aB = 1.87 m/s2
a = 0.344 rad/s2
EXAMPLE 2

Given:
The ball rolls without slipping with an
angular velocity of w = 6 rad/s and
angular acceleration of a = 4 rad/s2.

Find:
The accelerations of points A and B at this instant.
Solution:
Kinematic diagram
 Since the ball rolls without
slipping, aO is directed to the left
with a magnitude of

aO = a r = (4 rad/s2)(0.15 m) =0.6 m/s2

Acceleration Equation for Point B

aB = a𝑂 + 𝛼Ԧ ×ԦrB/O − w 2 rԦB/O

= − 0.6 𝑖Ƹ + (4 𝑘෠ × 0.15 𝑖)Ƹ – (6)2 (0.15𝑖)Ƹ

= −6 𝑖Ƹ + 0.6 𝑗Ƹ m/s2
Acceleration Equation for Point A

aA = a𝑂 + 𝛼Ԧ ×ԦrA/O − w 2 rԦA/O

= − 0.6 𝑖Ƹ + (4 𝑘෠ × 0.15 𝑗)Ƹ – (6)2 (0.15𝑗)Ƹ

= −1.2 𝑖Ƹ − 5.4 𝑗Ƹ m/s2

EXAMPLE 3

Given:
The disk is rotating with an
angular velocity of w = 3 rad/s,
and an angular acceleration of
a = 8 rad/s2 at the instant shown.

Find:
(a) The angular velocity of link AB.
(b) The angular acceleration of link AB and the acceleration at point B.
Solution:
(a) Angular Velocity of link AB

 Kinematic diagram
At this instant, points A & B are both moving horizontally.

Therefore, link AB is translating.

vA
∴ wAB = 0

vB
Angular Acceleration of link AB
(aA)t
 Kinematic diagram
aAB
 Acceleration at point A (aA )n

(aA)t = a r
= 8(0.2)
= 1.6 m/s2 →

(aA)n = w2r
= (32)(0.2)
= 1.8 m/s2 ↓

∴ aA = (1.6 𝑖Ƹ − 1.8 𝑗)Ƹ m/s2

 Acceleration Equation
aB = aA + 𝛼Ԧ AB × rԦB/A − (wAB) 2 rԦB/A
aB 𝑖Ƹ = (1.6 𝑖Ƹ − 1.8 𝑗)Ƹ + aAB 𝑘෠ × (0.4 cos 30o 𝑖Ƹ – 0.4 sin 30o 𝑗)Ƹ – 0

aB 𝑖Ƹ = (1.6 + 0.4aAB sin 30o) 𝑖Ƹ + (– 1.8+ 0.4aAB cos 30o) 𝑗Ƹ

 Comparing 𝑖Ƹ , 𝑗Ƹ components:
𝑖:Ƹ aB = 1.6 + 0.4 aAB sin 30º
𝑗Ƹ : 0 = − 1.8 + 0.4 aAB cos 30º

 Solving the above 2 equations, we have

aB = 2.64 m/s2 aB = 2.64 𝑖Ƹ m/s2

aAB = 5.20 rad/s2 𝛼Ԧ AB = 5.20 𝑘෠ rad/s2